JP2019063354A - Vacuum cleaner - Google Patents

Abstract

To provide a vacuum cleaner for enabling at least one between efficiently cleaning a place where dust is easily stored and mitigating an impact when a moving suction part collides with an obstacle such as a wall.SOLUTION: A vacuum cleaner includes: a suction part having a rotary brush 9 for stirring up dust from a cleaned surface and an electric motor 10 for driving the rotary brush 9, and to be moved on a cleaned surface; an electric blower for generating an air flow for sucking dust taken-in by the suction part; a distance sensor 11 for detecting a distance from an object to be an obstacle with respect to the moving suction part or an object existing above the suction part; and a control part for controlling drive power of at least one of the electric motor 10 and the electric blower in accordance with an approach distance being a detection distance to be detected by the distance sensor 11.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a vacuum cleaner.

  In the conventional vacuum cleaner disclosed in Patent Document 1 below, when it is detected that the bumper of the suction tool comes in contact with an obstacle such as a wall when cleaning around a corner or a wall of a room, the electric vacuum cleaner The suction force is controlled to increase automatically for a predetermined time.

Patent No. 3345904 gazette

  In the electric vacuum cleaner of Patent Document 1, when the bumper of the suction tool comes in contact with the wall, the rib inside the bumper detects that the light between the light emitting element and the light receiving element is blocked, and detects the edge of the wall, and the electric blower There is a problem that the edge of the wall can not be detected until the bumper of the suction tool actually contacts the wall.

  Further, in the vacuum cleaner of Patent Document 1, since the drive power of the electric blower is controlled to increase for a predetermined time after the detection of the wall, the user reciprocates the suction tool toward the wall in the vicinity of the wall. During operation, once the bumper of the suction tool comes into contact with the wall and the drive power of the electric blower increases, the electric blower may be operated despite the suction tool being separated from the wall depending on the user's operation timing. The drive power of the drive remains increased, or a predetermined time elapses on the way to the wall again, causing the drive power to return to normal, thus impressing the user with the poor feeling of operation. In the worst case, there is a problem that a malfunction or a failure may be suspected.

  The present invention has been made in view of the above-described matters, and at least cleaning a location where dust is likely to be accumulated efficiently and reducing an impact where a moving suction portion collides with an obstacle such as a wall. It aims at providing the vacuum cleaner which enables one side.

  The vacuum cleaner according to the present invention has a rotary brush that scrapes dust from the surface to be cleaned and an electric motor for driving the rotary brush, and is taken into the suction portion moved on the surface to be cleaned and the suction portion Detection detected by a distance sensor that detects a distance between an electric blower that generates an air flow that sucks dust and dust, an object that is an obstacle to a moving suction unit, or an object above the suction unit And a controller configured to control drive power of at least one of the electric motor and the electric blower according to an approach distance which is a distance.

  According to the present invention, the control unit for controlling the driving power of at least one of the motor and the electric blower for driving the rotating brush is provided according to the approach distance detected by the distance sensor, thereby collecting dust on the wall etc. At least one of cleaning the easy-to-use area and mitigating the impact of the moving suction portion colliding with an obstacle such as a wall can be achieved.

It is the schematic diagram which saw through the internal structure of the vacuum cleaner by Embodiment 1 from the side side. FIG. 5 is a plan view of the hand operation unit according to the first embodiment. It is the schematic diagram which saw through the internal structure of the suction tool in Embodiment 1 from the side side. FIG. 2 is a perspective view of the distance sensor in the first embodiment. FIG. 2 is a control block diagram of the vacuum cleaner according to Embodiment 1. It is a figure which shows an example of the output characteristic of a distance sensor. It is a figure for demonstrating an example of operation | movement when a suction tool approaches a wall. FIG. 7 is a diagram showing an example of an output waveform when using the output voltage of the distance sensor in the first embodiment for detection of a wall edge. FIG. 7 is a diagram showing another example of an output waveform when using the output voltage of the distance sensor in the first embodiment for detection of a wall edge. It is a figure which shows the modification which changed the installation method of the distance sensor. FIG. 7 is a diagram showing an example of an output waveform when performing detection on the wall by giving two threshold values to the output voltage of the distance sensor in Embodiment 1. It is a figure which shows an example of the relationship of the 1st threshold value Vx of a distance sensor, the 1st threshold value distance Dx, the 2nd threshold value Vy, and the 2nd threshold value distance Dy. It is a figure for demonstrating area | region Dx-Dy detected when giving two threshold values to the output voltage of a distance sensor. It is a figure which shows the other modification which changed the installation method of the distance sensor. In the modification shown in FIG. 14, it is a figure for demonstrating an example of operation | movement when a suction tool approaches a wall, when a suction tool penetrates under the furniture lower surface further back. It is a figure which shows the other example of the output characteristic of a distance sensor. It is the top view which saw through the internal structure of an example of the suction tool provided with several distance sensors. It is a control block diagram of a vacuum cleaner which has a suction tool provided with a plurality of distance sensors. It is a figure for demonstrating an example of operation | movement when the suction tool with which the vacuum cleaner of Embodiment 2 is equipped approaches a wall. FIG. 10 is a control block diagram of the vacuum cleaner in the second embodiment.

  Hereinafter, embodiments will be described with reference to the drawings. However, the same reference numerals are given to the elements common to the respective drawings, and the redundant description will be omitted. In addition, when the number of the number, the quantity, the quantity, the range, etc. of each element is mentioned in the embodiment shown below, except when clearly indicated or the number clearly specified in principle, the reference It is not limited to the number. Further, the structures described in the embodiments described below are not necessarily essential unless explicitly stated or clearly specified in principle. The present disclosure can include any combination of configurations that can be combined among the configurations described in the following embodiments.

Embodiment 1
FIG. 1: is the schematic diagram which looked at the internal structure of the vacuum cleaner 100 by Embodiment 1 from the side side. In FIG. 1, the left side of the sheet is the front, the right side of the sheet is the rear, the upper side of the sheet is the upper, and the lower side of the sheet is the lower. Moreover, in FIG. 1, a mode that the main body 1 and the suction tool 8 of the vacuum cleaner 100 are arrange | positioned on a floor surface is shown.

  As shown in FIG. 1, the vacuum cleaner 100 according to the first embodiment comprises a main body 1, a hose 5 detachably connected to the main body 1, and suction for dust on a surface to be cleaned in contact with a floor surface. The suction tool 8 which is a suction part, and the rigid extension pipe 7 which connects between the hose 5 and the suction tool 8 detachably are provided. The hose 5 is composed of, for example, a flexible bellows portion in which three piano wires are incorporated, and a hand operation portion 6 provided at one end of the bellows portion. The suction tool 8 is provided with a rotating brush 9 and an electric motor 10 for rotating the rotating brush 9. The rotating brush 9 corresponds to an agitator that scrapes dust on the surface to be cleaned. The rotating brush 9 is attached with a flocked or elastic blade or the like for contacting the surface to be cleaned and scraping dust. In addition, as what connects between the suction tool 8 and the main body 1, any one of the extension pipe 7 or the hose 5 may be sufficient.

  FIG. 2 is a plan view of the hand operation unit 6 according to the first embodiment. As shown in FIG. 2, a switch SW1 for turning on and off the operation of the electric motor 10, a switch SW2 for switching between high, middle and low suction force in manual operation are selected in the hand operation unit 6, and an automatic operation mode is selected. And a switch SW4 for starting or stopping operation. As shown in FIG. 1, the main body 1 includes an electric blower 2 that generates an air flow for suctioning dust taken into the suction tool 8, and a dust collection unit 4 for collecting dust collected by the electric blower 2. A control unit 3 that controls the driving power of the electric blower 2 and the motor 10 in accordance with an operation from the hand operation unit 6 is incorporated.

  FIG. 3 is a schematic view of the internal configuration of the suction tool 8 in Embodiment 1 as seen through from the side. In FIG. 3, the left side of the sheet is the front, the right side of the sheet is the rear, the upper side of the sheet is the upper, and the lower side of the sheet is the lower. The suction tool 8 is provided with a distance sensor 11 for detecting a distance to an object, for example, a wall or furniture which is an object that becomes an obstacle of the moving suction tool 8. The distance sensor 11 is disposed at the outer edge in the advancing direction of the suction tool 8, that is, at the outer edge on the front side of the suction tool 8. In FIG. 3, the suction tool 8 is located at a distance from the wall 12, which indicates that the distance from the wall 12 to the distance sensor 11 is Da.

  FIG. 4 is a perspective view of the distance sensor 11 in the first embodiment. The distance sensor 11 has a light beam irradiation unit 11a which is a radiation unit and a light beam reception unit 11b which is a reception unit. The light beam irradiation part 11a is for irradiating a light beam toward the front of the suction tool 8 from the irradiation point 11c. The light beam emitted from the light beam irradiator 11 a is reflected by an object such as a wall 12 positioned to prevent the progress of the suction tool 8 ahead of the front side outer edge of the suction tool 8 in the traveling direction Be done. The light beam receiving section 11b is for receiving the reflected light reflected thereby.

  An area where the light beam irradiated by the light beam irradiation unit 11 a is irradiated to an object serving as an obstacle is defined as a detection area of the distance sensor 11. The light beam irradiator 11 a and the light beam receiver 11 b are disposed to face a detection area located in the forward direction from the front side outer edge of the suction tool 8. In the example shown in FIG. 3, the light beam irradiating unit 11a and the light beam receiving unit 11b are arranged such that the optical axis is parallel to the horizontal axis. That is, the optical axis of the light beam irradiator 11a and the optical axis of the light beam receiver 11b are parallel to the surface to be cleaned such as a floor surface. The amount of light of the reflected light increases as the distance sensor 11 is closer to the detection area. The control unit 3 detects the level of the amount of light received by the light beam receiving unit 11b of the distance sensor 11, and recognizes the positional relationship between the suction tool 8 and the detection area. In addition, infrared rays can be used for the light beam irradiated from the light beam irradiation part 11a, for example. A light emitting element and a light receiving element based on infrared rays are already widely available, and can be easily obtained, so that they can be easily adopted in the vacuum cleaner 100 according to the embodiment. Further, by using infrared rays, it is possible to detect the distance without being influenced by the brightness of day and night and in the room.

  FIG. 5 is a control block diagram of the vacuum cleaner 100 according to the first embodiment. The directions of arrows in FIG. 5 indicate the directions of control signals among various components. When a cleaning operation instruction is issued from the hand operation unit 6, the control unit 3 drives the electric blower 2 and the motor 10 to perform the cleaning operation for sucking dust on the surface to be cleaned. The suctioned dust is stored in the dust collection unit 4.

  Further, a detection signal of the distance sensor 11 is input to the control unit 3. The control unit 3 detects that the suction tool 8 has come close to the wall based on the detection signal of the distance sensor 11, and increases the driving power of either or both of the electric blower 2 and the motor 10 than usual. Control. Here, the distance D from the irradiation point 11 c of the distance sensor 11 to the detection area is hereinafter also referred to as “approach distance D”. The distance sensor 11 outputs an analog voltage V according to the approach distance D, which is a detection distance detected by the distance sensor 11. FIG. 6 is a view showing an example of the output characteristic of the distance sensor 11. In the example shown in FIG. 6, the characteristic is shown that the output analog voltage V changes to a smaller value as the approach distance D increases.

  In the output characteristic shown in FIG. 6, the distance Db represents the distance to the detection area when the distance sensor 11 and the wall 12 are close to each other, and the voltage Vb represents the voltage output at this time. The control unit 3 constantly monitors the voltage V detected by the distance sensor 11. The fact that the voltage Vb is output from the distance sensor 11 can be determined as the approach distance D between the irradiation point 11c of the distance sensor 11 and the wall 12 which is the detection area is maintained at the distance Db. In that case, since it can be determined that the user is cleaning the vicinity of the wall, the control unit 3 increases the driving power of either or both of the electric blower 2 and the motor 10 more than usual, and dust is likely to be accumulated Can be cleaned efficiently. On the other hand, when the voltage V output from the distance sensor 11 becomes a voltage Va smaller than the voltage Vb, it can be determined that the approach distance D becomes a distance Da larger than the distance Db. In this case, since the user can determine that the position away from the wall is being cleaned, the control unit 3 changes the drive power of the electric blower 2 and the motor 10 to a normal state. In the vacuum cleaner 100 according to the first embodiment, a threshold of the approach distance D, which is a distance for the control unit 3 to determine that the user is cleaning the wall, is a threshold distance Dx. Note that Da> Dx> Db. In addition, the voltage Vx corresponding to the threshold distance Dx is stored in the control unit 3 in advance. Note that Va <Vx <Vb. Then, when the voltage V detected by the distance sensor 11 becomes larger than the voltage Vx corresponding to the threshold distance Dx, that is, when the approaching distance D becomes smaller than the threshold distance Dx, the control unit 3 uses The behavior of the electric blower 2 and the electric motor 10 is changed so that a person can efficiently clean the wall where dust is likely to be accumulated. Specifically, the control unit 3 increases the driving power of either or both of the electric blower 2 and the motor 10 more than usual to improve the dust suction performance.

  In the vacuum cleaner 100 according to the first embodiment, the distance sensor 11 is disposed at the outer edge on the front side of the suction tool 8 and the light beam is irradiated to face the detection region located forward in the advancing direction of the suction tool 8 , And is characterized by detecting that the suction tool 8 is close to a wall or an obstacle. Next, the specific operation of the vacuum cleaner 100 according to the first embodiment will be further described with reference to some examples.

  FIG. 7 is a view for explaining an example of the operation when the suction tool 8 approaches the wall 12. In FIG. 7, the left side of the sheet is the front, the right side of the sheet is the rear, the upper side of the sheet is the upper, and the lower side of the sheet is the lower. The wall 12 in the example shown in this figure is composed of a flat surface extending in a direction perpendicular to the floor surface, ie, the surface to be cleaned. It is assumed that the suction tool 8 was originally at a position away from the wall 12 and, as shown in FIG. 3, the distance between the distance sensor 11 and the wall 12 is Da (> Dx). Here, when the suction tool 8 approaches the wall 12, the approach distance D changes from Da (> Dx) to Db (<Dx). In response to the change of the output of distance sensor 11 from Va (> Vx) to Vb (<Vx), control unit 3 increases the driving power of either or both of motor blower 2 and motor 10 more than usual. By doing this, it is possible to temporarily improve dust suction performance and perform more efficient cleaning at the wall where dust is likely to be accumulated.

  FIG. 8 is a diagram showing an example of an output waveform when using the output voltage of the distance sensor 11 according to the first embodiment for detection of the edge of a wall. The time T represents the time during cleaning, and the analog voltage V represents the analog voltage of the distance sensor 11 output at the time T. The user is in the process of cleaning using the vacuum cleaner 100 according to the first embodiment, stands facing the wall 12 and reciprocates the suction tool 8 back and forth toward the wall 12 to clean the wall. Assume that you At this time, according to FIG. 8, the suction tool 8 is a threshold distance that the approach distance D with the wall 12 is preset in each of the time T1 to T2, T3 to T4, and T5 to T6. It becomes less than Dx, and the analog voltage V which the distance sensor 11 outputs is more than Vx. The control unit 3 detects that the output voltage of the distance sensor 11 is Vx or more, and during the time T1 to T2, T3 to T4, and T5 to T6, whichever of the electric blower 2 and the electric motor 10 It is possible to increase the driving power of both or both than usual and temporarily improve the dust suction performance and perform more efficient cleaning at the wall where dust is likely to be accumulated. Further, the control unit 3 detects that the output voltage of the distance sensor 11 is less than Vx at each of time before T1, T2 to T3, T4 to T5, and T6. Thus, the control unit 3 operates the electric blower 2 and the motor 10 with normal drive power.

  FIG. 9 is a diagram showing another example of the output waveform when using the output voltage of the distance sensor 11 according to the first embodiment for detection of the edge of a wall. The time T represents the time during cleaning, and the analog voltage V represents the analog voltage of the distance sensor 11 output at the time T. FIG. 9 shows that, from time Ta to Tb, the analog voltage V output from the distance sensor 11 is equal to or higher than the threshold Vx for detecting the edge of the wall, and the amount of displacement thereof is within the preset value ΔVz. The fact that the amount of displacement of the analog voltage is within ΔVz means that the approach distance D of the distance sensor 11 and the wall 12 has not changed significantly. Therefore, FIG. 9 shows that the user stopped moving the suction tool 8 close to the wall 12 or moved the suction tool 8 horizontally along the plane constituting the wall 12 It is a waveform at the time, and shows an example of carefully cleaning the wall where dust is likely to be accumulated. Therefore, if the output voltage of the distance sensor 11 is Vx or more and the displacement amount thereof is within the preset ΔVz during a certain arbitrary time Ta to Tb, the control unit 3 allows the user to see the wall. It is judged that cleaning is in progress, and by increasing the driving power of either or both of the electric blower 2 and the motor 10 more than usual, the dust suction performance is temporarily improved at the wall where dust is likely to be accumulated. It will be possible to carry out more efficient cleaning.

  Next, a modification of the vacuum cleaner 100 according to the first embodiment will be described. FIG. 10 is a view showing a modified example in which the installation method of the distance sensor 11 is changed. In FIG. 10, the left side of the sheet is the front, the right side of the sheet is the rear, the upper side of the sheet is the upper, and the lower side of the sheet is the lower. The furniture lower surface 13 shown in FIG. 10 is composed of a horizontally extending downward flat surface, which simulates the lower surface of furniture such as a sofa, bed, storage shelf, etc., and forms a gap with the floor surface. ing. In a modification of vacuum cleaner 100 of the first embodiment, suction tool 8 is provided with distance sensor 11 for detecting the distance to the lower surface or the like of furniture which is an object above moving suction tool 8. ing. The distance sensor 11 is attached on the outer edge upper portion in the traveling direction of the suction tool 8, that is, the upper outer edge upper portion of the suction tool 8 so that the light beam irradiation unit 11 a irradiates the light beam vertically upward. It is assumed that the suction tool 8 has moved to the gap between the furniture lower surface 13 and the floor surface, and the user is cleaning under the furniture where dust is likely to be accumulated. At this time, it is detected by the distance sensor 11 that the approach distance D to the furniture lower surface 13 has become a distance Db smaller than the threshold distance Dx. By recognizing that it has entered the gap with the surface, by increasing the drive power of either or both of the electric blower 2 and the motor 10 more than usual, dust tends to collect on the surface to be cleaned under the furniture The dust suction performance can be temporarily improved, and more efficient cleaning can be performed.

  The control unit 3 detects that the output voltage of the distance sensor 11 is equal to or higher than the threshold value Vx in the description of the operation of the vacuum cleaner 100 according to the first embodiment so far, and the user may Recognize that cleaning the lower surface to be cleaned is being performed, and increase the drive power of either or both of the electric blower 2 and the motor 10 more efficiently than usual, thereby efficiently cleaning the dust accumulation area However, it is also possible for the control unit 3 to perform the following control.

  To the rotating brush 9 included in the suction tool 8, flocking or a blade is attached for the purpose of contacting the surface to be cleaned and scraping dust. Another purpose of the rotating brush 9 is to generate a propulsive force in the moving direction of the suction tool 8 so that the user can operate the suction tool 8 smoothly with a light force. Taking FIG. 3 as an example, the advancing direction of the suction tool 8 is on the left side of the drawing, and the rotary brush 9 rotates forward counterclockwise on the drawing to generate a propulsive force in the left direction of the drawing. At this time, if the suction tool 8 comes close to the wall 12, the user operates the suction tool 8 smoothly with a light force by the propulsive force generated by the rotating brush 9. There is a possibility that the suction tool 8 may be made to collide violently. Therefore, when the distance sensor 11 detects the proximity to the wall 12, the control unit 3 controls the drive power of the motor 10 to weaken the propulsive force of the suction tool 8 by the rotating brush 9, or By stopping the rotation of the brush 9 and stopping the propelling force of the suction tool 8, the suction tool 8 can be prevented from violently colliding with the wall 12. That is, when the approach distance D becomes smaller than the threshold distance Dx, the control unit 3 may perform the “first process” to reduce the driving power of the motor 10 to be lower than usual or to make it zero. Further, when the approach distance D becomes smaller than the threshold distance Dx, the control unit 3 reversely rotates the rotating direction of the rotating brush 9 in the drawing in the clockwise direction in the drawing instead of the first process. You may perform "the 2nd process" which switches the driving force to the paper surface right direction.

  It is also possible to make the detection on the wall for performing efficient cleaning in the vicinity of the wall and the detection on the wall for avoiding the violent wall collision of the suction tool 8 compatible as described above.

  For example, taking FIG. 7 and FIG. 8 as an example, in FIG. 8, the control unit 3 detects that the output voltage of the distance sensor 11 is Vx or more, and from time T1 to T2, T3 to T4, and T5. At time T6 to T6, by increasing the driving power of the electric blower 2 more than usual, the dust suction performance is temporarily improved, and the above-described first and second processes are performed while performing more efficient cleaning. Do one of the following. That is, for the electric motor 10, the control unit 3 reduces the rotational speed of the rotary brush 9 to weaken the propulsive force of the suction tool 8, stops the rotation of the rotary brush 9, and stops the propulsive force of the suction tool 8. Or, reversely rotate the rotational direction of the rotary brush 9 clockwise and control the propulsive force in the left direction of the paper surface of FIG. 7 to switch to the right direction of the paper surface, etc. Can be avoided.

  As to the other modifications as described above, both detection on the wall for efficient cleaning in the vicinity of the wall and detection on the wall for avoiding the collision of the suction tool 8 with the wall 12 are as follows. Show.

  FIG. 11 is a diagram showing an example of an output waveform when the detection of the edge of a wall is performed by giving two threshold values to the output voltage of the distance sensor 11 in the first embodiment. The user stands using the vacuum cleaner 100 according to the first embodiment so as to face the wall 12 and reciprocates the suction tool 8 back and forth toward the wall 12 to clean the wall. It is assumed that The time T represents the time during cleaning, and the analog voltage V represents the analog voltage of the distance sensor 11 output at the time T. Compared to FIG. 8, the second threshold Vy is different in that Vy> Vx in advance. By setting the second threshold value Vy, the control unit 3 also detects a second threshold value distance Dy that is closer than the first threshold value distance Dx corresponding to the first threshold value Vx of the output voltage of the distance sensor 11. It becomes possible. FIG. 12 is a diagram showing an example of the relationship between the first threshold Vx and the first threshold distance Dx of the distance sensor 11, and the second threshold Vy and the second threshold distance Dy.

  According to FIG. 11, the output V of the distance sensor 11 is Vy> V> Vx at each time of time T1 to T2, T3 to T4, T5 to T6, T7 to T8, T9 to T10, and T11 to T12, and suction It indicates that the approach distance D between the tool 8 and the wall 12 is equal to or less than the preset first threshold distance Dx, but has not reached the second threshold distance Dy which is even closer. At each of these times, the control unit 3 increases the drive power of either or both of the electric blower 2 and the motor 10 more than usual to carry out efficient cleaning in a place where dust is likely to be accumulated. Control. On the other hand, from time T2 to T3, T6 to T7, and T10 to T11, the output V of the distance sensor 11 becomes Vy or more, and the approach distance D between the suction tool 8 and the wall 12 is greater than the first threshold distance Dx. Also indicates that the second threshold distance Dy is even less. The control unit 3 that has detected a voltage higher than Vy controls the drive power of the motor 10 and reduces the rotational speed of the rotating brush 9 to weaken the propulsive force of the suction tool 8 or stop the rotation of the rotating brush 9 Therefore, the suction tool 8 collides violently with the wall 12 by stopping the propulsive force of the suction tool 8 or causing the rotational direction of the rotating brush 9 to rotate in the reverse direction to generate the propulsive force opposite to the traveling direction. To avoid doing. That is, the control unit 3 performs one of the first process and the second process described above.

  FIG. 13 is a diagram for explaining a region Dx-Dy detected when the output voltage of the distance sensor 11 has two thresholds. In FIG. 13, the left side of the sheet is the front, the right side of the sheet is the rear, the upper side of the sheet is the upper, and the lower side of the sheet is the lower. In order to ensure that the suction tool 8 collides against the wall 12 with certainty, the second threshold distance Dy is set to a larger value, that is, a smaller value is set to Vy, in order to detect the edge of the wall. Is desirable. On the other hand, when the second threshold distance Dy is close to the first threshold distance Dx, that is, when Vy is set to a value close to Vx, drive power of either or both of the electric blower 2 and the motor 10 is set. There is a possibility that Dx-Dy which is an area to be increased more than usual, that is, an area to be detected on the wall side to carry out an efficient cleaning by the wall side may be reduced. Thus, the relationship between the detection by the wall to ensure that the suction tool 8 does not collide violently against the wall 12 and the detection by the wall to carry out the efficient cleaning by the wall is a trade-off relationship. May be In this case, it is desirable to determine the value of Vy after thoroughly examining whether to prioritize detection on one of the walls or to balance detection on both walls. When the approach distance D becomes equal to or less than the second threshold distance Dy, the control unit 3 may continue the operation with the drive power which is increased for the electric blower 2 more than usual. By doing this, it is possible to carry out more efficient cleaning by the wall while reliably avoiding the suction tool 8 from violently colliding with the wall 12.

  FIG. 14 is a view showing another modification in which the method of installing the distance sensor 11 is changed. In FIG. 14, the left side of the sheet is the front, the right side of the sheet is the rear, the upper side of the sheet is the upper, and the lower side of the sheet is the lower. In the distance sensor 11, the light beam irradiator 11a irradiates the light beam obliquely upward in the forward direction with respect to the horizontal direction on the outer edge upper portion in the advancing direction of the suction device 8, that is, the outer edge upper portion on the front side of the suction device 8. An example is shown in which the optical axis of the light beam irradiation unit 11a is directed obliquely upward. In FIG. 14, the suction tool 8 imitates under the furniture lower surface 13, and the approach distance D between the distance sensor 11 and the furniture lower surface 13 at this time becomes Db smaller than the threshold distance Dx. The output V of the distance sensor 11 becomes Vb larger than the threshold Vx, and the furniture lower surface 13 is detected. As a result, the control unit 3 increases the driving power of either or both of the electric blower 2 and the motor 10 more than usual, so that dust suction performance can be achieved on the surface to be cleaned under the furniture where dust is easily accumulated. Can be temporarily improved to make cleaning more efficient.

  FIG. 15 is a view for explaining an example of the operation when the suction tool 8 approaches the wall 12 when the suction tool 8 enters the lower part of the lower furniture surface 13 in the modification shown in FIG. 14. is there. In FIG. 15, the left side of the sheet is the front, the right side of the sheet is the rear, the upper side of the sheet is the upper, and the lower side of the sheet is the lower. At this time, the approach distance D between the distance sensor 11 and the wall 12 is Dc that satisfies Dc <Dy <Db <Dx, and the output V of the distance sensor 11 is Vc that satisfies Vc> Vy> Vb> Vx. When detecting that the output of the distance sensor 11 has become Vb exceeding the threshold value Vx, the control unit 3 detects the lower surface 13 of the furniture, and the driving power of one or both of the electric blower 2 and the motor 10 In the surface to be cleaned under the furniture where dust is likely to be accumulated, the dust suction performance is temporarily improved to perform more efficient cleaning. Furthermore, when detecting that the output of the distance sensor 11 has become Vc exceeding the second threshold value Vy, the control unit 3 detects the wall 12 at the back of the furniture lower surface 13, and the driving power of the motor 10 Control to lower the rotational speed of the rotary brush 9 to weaken the propulsive force of the suction tool 8 or stop the rotation of the rotary brush 9 to stop the propulsive force of the suction tool 8 or By reversely rotating the direction of rotation, a propulsive force on the opposite side to the direction of travel is generated. This prevents the suction tool 8 from violently colliding with the wall 12. As described above, when the distance sensor 11 irradiates the light beam in the obliquely upward direction, both the wall 12 and the furniture lower surface 13 can be detected.

  The output characteristics of the distance sensor 11 are not limited to those shown in FIG. FIG. 16 is a view showing another example of the output characteristic of the distance sensor 11. As shown in FIG. In the example shown in this figure, the characteristic is shown that the output analog voltage V changes to a larger value as the distance D from the irradiation point 11c of the distance sensor 11 to the detection area increases.

  In the characteristic shown in FIG. 16, while the voltage Vb is output from the distance sensor 11, the approach distance D between the irradiation point 11 c of the distance sensor 11 and the wall 12 of the detection area is maintained at the distance Db. It can be determined that the suction tool 8 is near the On the other hand, when the voltage V output from the distance sensor 11 becomes a value Va larger than the voltage Vb, it can be determined that the approach distance D becomes Da larger than the distance Db, and is separated from the wall 12 It can be determined that the suction tool 8 is at the position. In this case, when the voltage V detected by the distance sensor 11 becomes smaller than Vx corresponding to the threshold distance Dx, the control unit 3 detects the edge of the wall, and either the electric blower 2 or the motor 10 or It is sufficient to change both behaviors. Here, Va> Vx> Vb.

  In the description of the first embodiment, although one distance sensor 11 is provided at the outer edge in the advancing direction of the suction tool 8, a plurality of distances are provided depending on the size of the suction tool 8 and the characteristics of the distance sensor 11. The sensors 11 may be provided at different positions of the suction tool 8. FIG. 17 is a plan view seen through an internal configuration of an example of a suction tool 8 provided with distance sensors 11A and 11B as a plurality of distance sensors 11. As shown in FIG. FIG. 18 is a control block diagram of a vacuum cleaner 100 having a suction tool 8 provided with distance sensors 11A and 11B. The directions of arrows in FIG. 18 indicate the directions of control signals among various components. In FIG. 17, the upper side of the sheet is the front, the lower side of the sheet is the rear, the right side of the sheet is the right, and the left side of the sheet is the left. In the example shown in FIG. 17, the distance sensor 11A is disposed on the left side of the outer edge of the suction tool 8 in the traveling direction, and the distance sensor 11B is disposed on the right side. As shown in FIG. 18, detection signals of the respective distance sensors 11A and 11B are input to the control unit 3. For example, when the user makes the surface constituting the advancing direction side outer edge of the suction tool 8 be close to the wall 12 in a state where it is not parallel to the wall 12 but oblique, the distance sensors 11A, Since the detection on the wall is performed based on the output of the one in which the threshold value is detected first in 11B, the possibility of false detection can be reduced.

  The distance sensor 11 in the present embodiment includes the light beam irradiation unit 11a and the light beam receiving unit 11b using infrared rays as the light beam, and determines the level of the light amount to be received. As a modification, the distance sensor 11 may include, for example, a position sensing device (PSD) or a CMOS image sensor in the infrared light receiving unit, and may be configured to detect the distance from the incident angle of the infrared reflected light to the reflection surface. Although the distance sensor 11 in the present embodiment is configured to detect the distance using an infrared light beam, the present invention is not limited to this, and, for example, a radiation unit that emits an electromagnetic wave or an ultrasonic wave other than infrared light The approach distance may be detected using a distance sensor including a receiving unit that receives the reflected wave. Examples of the "electromagnetic waves other than infrared light" include laser light and microwaves.

Second Embodiment
Next, the second embodiment will be described with reference to FIGS. 19 and 20. The differences from the first embodiment described above will be mainly described, and the description of the same or corresponding parts will be simplified or I omit it. The vacuum cleaner of the second embodiment is characterized by including a light source unit 14 provided in the suction tool 8 in addition to the same configuration as that of the first embodiment.

  FIG. 19 is a view for explaining an example of the operation when the suction tool 8 provided in the vacuum cleaner of the second embodiment is close to the wall 12. In FIG. 19, the left side of the sheet is the front, the right side of the sheet is the rear, the upper side of the sheet is the upper, and the lower side of the sheet is the lower. FIG. 20 is a control block diagram of the vacuum cleaner in the second embodiment. The direction of the arrow in FIG. 20 indicates the direction of the control signal between the various components. As shown in FIG. 20, the control unit 3 controls the light source unit 14 in addition to the electric blower 2 and the motor 10 according to the output signal of the distance sensor 11. In the example of FIG. 19, the light source unit 14 is installed at the outer edge in the traveling direction of the suction tool 8, that is, the outer edge on the front side of the suction tool 8. The light source unit 14 can emit light by applying a voltage according to the control of the control unit 3 and can emit white light. Since the irradiation direction of the light source unit 14 is horizontally directed to the traveling direction side, white light is irradiated to the front of the suction tool 8 in the traveling direction. Normally, the light source unit 14 does not emit light, but when the suction tool 8 approaches the wall 12 and the distance between the suction tool 8 and the wall 12 becomes Db, the voltage V detected by the distance sensor 11 is greater than the threshold Vx The control unit 3 detects the edge of the wall. As described in the first embodiment, the control unit 3 that has detected the edge of the wall changes the behavior of the motor blower 2 and the motor 10, and further causes the light source unit 14 to emit white light. Brightly illuminate the surface to be cleaned. Thus, the control unit 3 controls lighting and extinguishing of the light source unit 14 according to the approach distance. Although only one light source unit 14 is provided in the example of the second embodiment, a plurality of light source units 14 are provided in view of the characteristics of the light source unit 14 and an area where white light is desired to be emitted. It is also possible.

  As described above, according to the vacuum cleaner of the second embodiment, the light source unit 14 for illuminating the surface to be cleaned in the forward direction of the suction tool 8 is further provided. Ensuring the illumination by the wall that runs short and improve the visibility. That is, in the vicinity of the wall, the boundary between the wall 12 and the indoor space, and the presence or absence of dust can be easily visually checked, and the effect of improving the cleaning efficiency at the wall can be obtained. In addition, the same effect can be obtained when cleaning the lower surface of the furniture to which the light of the room illumination can not reach sufficiently.

  Each function of control part 3 in Embodiments 1 and 2 mentioned above may be realized by a processing circuit. In the examples shown in FIGS. 5, 18 and 20, the processing circuit of the control unit 3 includes at least one processor 3a and at least one memory 3b. When the processing circuit includes at least one processor 3a and at least one memory 3b, each function of the control unit 3 may be realized by software, firmware, or a combination of software and firmware. Software and / or firmware may be described as a program. At least one of the software and the firmware may be stored in at least one memory 3b. At least one processor 3a may realize each function of the control unit 3 by reading and executing a program stored in at least one memory 3b. The at least one memory 3 b may include nonvolatile or volatile semiconductor memory, magnetic disk, and the like.

  The processing circuit of the control unit 3 may include at least one dedicated hardware. When the processing circuit comprises at least one dedicated hardware, the processing circuit may, for example, be a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit (ASIC), an FPGA (field- It may be a programmable gate array) or a combination thereof. The functions of the respective units of the control unit 3 may be realized by processing circuits. Also, the functions of the respective units of the control unit 3 may be realized collectively by a processing circuit. The respective functions of the control unit 3 may be partially realized by dedicated hardware, and the other portions may be realized by software or firmware. The processing circuit may implement each function of the control unit 3 by hardware, software, firmware, or a combination thereof. Further, the present invention is not limited to the configuration in which the operation is controlled by a single control device, and may be configured to control the operation by cooperation of a plurality of control devices.

  In the embodiment described above, although the canister type electric vacuum cleaner has been described as an example, the vertical vacuum type, the upright type, the stick type, the one hand carrying type, etc. is generally referred to Alternatively, the present invention is applicable to other types of vacuum cleaners, such as a type of vacuum cleaner called a shoulder type.

  The present invention is also applicable to a self-propelled vacuum cleaner which moves autonomously on the surface to be cleaned, which is generally called a robot cleaner. In this case, even if both the rotary brush and the suction unit having a motor for driving the rotary brush and the electric blower for generating an air flow for suctioning the dust taken into the suction unit are provided in the main body of the robot cleaner. Good.

DESCRIPTION OF SYMBOLS 1 main body, 2 electric blower, 3 control part, 4 dust collection part, 5 hose, 6 hand operation part, 7 extension pipe, 8 suction tool, 9 rotation brush, 10 electric motor, 11, 11A, 11B distance sensor, 11a light beam Irradiator, 11b Light beam receiver, 11c Irradiation point, 12 walls, 13 furniture bottom, 14 light sources, 100 electric vacuum cleaner

Claims (13)

A suction unit which has a rotating brush for scraping dust from the surface to be cleaned and an electric motor for driving the rotating brush, and is moved on the surface to be cleaned;
An electric blower generating an air flow for suctioning the dust taken into the suction portion;
A distance sensor that detects a distance between an object that is an obstacle of the moving suction part or an object above the suction part;
A control unit configured to control drive power of at least one of the electric motor and the electric blower according to an approach distance which is a detection distance detected by the distance sensor;
Vacuum cleaner equipped with.   The vacuum cleaner according to claim 1, wherein the control unit increases drive power of at least one of the electric motor and the electric blower when the approach distance becomes smaller than a threshold. When the rotating brush rotates forward, propulsive force is generated in the direction to move the suction portion forward,
When the approach distance becomes smaller than a threshold, the control unit performs one of a first process for reducing or zeroing the drive power of the motor and a second process for reversely rotating the rotating brush. The vacuum cleaner according to claim 1, which is performed. When the rotating brush rotates forward, propulsive force is generated in the direction to move the suction portion forward,
When the approach distance becomes smaller than a threshold value, the control unit increases the driving power of the electric blower,
When the approach distance becomes smaller than a threshold, the control unit performs one of a first process for reducing or zeroing the drive power of the motor and a second process for reversely rotating the rotating brush. The vacuum cleaner according to claim 1, which is performed. When the rotating brush rotates forward, propulsive force is generated in the direction to move the suction portion forward,
When the approach distance is smaller than a first threshold distance, the control unit increases drive power of at least one of the motor and the electric blower.
When the approach distance is smaller than a second threshold distance smaller than the first threshold distance, the control unit reverses the rotating brush to a first process of reducing or zeroing the driving power of the motor. The vacuum cleaner according to claim 1, wherein one of the second processing and the second processing to rotate is performed. The distance sensor includes a radiation unit that radiates an electromagnetic wave or an ultrasonic wave, and a reception unit that receives the reflected wave.
The vacuum cleaner according to any one of claims 1 to 5, wherein the radiation unit radiates an electromagnetic wave or an ultrasonic wave in a direction parallel to the surface to be cleaned. The distance sensor includes a radiation unit that radiates an electromagnetic wave or an ultrasonic wave, and a reception unit that receives the reflected wave.
The vacuum cleaner according to any one of claims 1 to 5, wherein the radiation unit radiates an electromagnetic wave or an ultrasonic wave in a direction upward or obliquely upward.   The vacuum cleaner according to claim 7, wherein the control unit is capable of detecting that the suction unit has entered under furniture by the distance sensor.   The vacuum cleaner according to any one of claims 6 to 8, wherein the radiation unit emits infrared radiation. A suction device that constitutes the suction portion;
A main body incorporating the electric blower,
At least one of a pipe and a hose connecting between the suction tool and the main body;
The vacuum cleaner according to any one of claims 1 to 9, comprising:   The vacuum cleaner according to any one of claims 1 to 10, further comprising at least one light source unit for illuminating the surface to be cleaned.   The vacuum cleaner according to claim 11, wherein the control unit controls lighting and extinguishing of the light source unit according to the approach distance.   The vacuum cleaner according to any one of claims 1 to 12, comprising a plurality of the distance sensors disposed at different positions of the suction portion.

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